//------------------------------------------------------------------------------
//  <copyright file="ControllerStateMachineNativeTests.h" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
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//  copies of the Software, and to permit persons to whom the Software is
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// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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//------------------------------------------------------------------------------	

#pragma once

#include <ControllerExecutionEngine.h>
#include <ControllerStateMachineRegisters.h>
#include <ControllerStateMachineDescription.cs>

#ifdef TESTROBOTICSMANIPULATIONCONTROLLERSTATEMACHINENATIVETESTLIB_EXPORTS
#define CONTROLLERSTATEMACHINENATIVETESTLIB_API __declspec(dllexport)
#else
#define CONTROLLERSTATEMACHINENATIVETESTLIB_API __declspec(dllimport)
#endif

// will eventually migrate this to a c++ version of "numerics"
#define ERROR_EPSILON 0.0000000000001

// Throws an exception (unhandled) if the condition 'e' is not true.
// When called by a VS test method, generates a test failure if 
// the asserted condition fails.
#define CONTROLLERSTATEMACHINENATIVEASSERT(e, msg) if (!(e)) throw msg;


namespace ControllerStateMachineNativeTestsNS
{
	enum ControlModes
	{
		ControlMode1,
		ControlMode2,
		ControlMode3
	};

	enum OpCodes
	{
		AddOp,
		MultiplyOp,
		AddVector3Op,
		DotProduct3Op,
		IsGreaterThanOneOp,
		IsMagnitudeGreaterThanVec3Op,
		ZeroScalarOp
	};

	enum WorkingRegisters
	{
		Scalar1,
		Scalar2,
		Scalar3,
		Vec1,
		Vec2,
		Vec3
	};

	enum FeedbackRegisters
	{
		FeedbackVec,
		FeedbackScalar
	};

	// This class is exported from the Test.Robotics.Manipulation.ControllerStateMachineNativeTestLib.dll
	class ControllerStateMachineNativeTests 
	{
	public:
		/// <summary> Test that state machine creation is error free. </summary>
		static void TestMachineCreation();

		/// <summary> Test basic state machine functionality. </summary>
		static void TestStateMachine();

		/// <summary> Test that creation of controller state machine registers is error free. </summary.
		static void ControllerStateMachineRegistersCreation();

		/// <summary> Test theat GetRegisterCount() works </summary>
		static void ControllerStateMachineRegistersGetRegisterCount();

		/// <summary> Test that GetRegisterSize() works. </summary>
		static void ControllerStateMachineRegistersGetRegisterSize();

		/// <summary> Test that GetRegisters() works. </summary>
		static void ControllerStateMachineRegistersGetRegisters();

	private:

		/// <summary> Create a default set of registers for use in tests. </summary>
		static ControllerStateMachineRegisters<double>  *CreateDefaultControllerStateMachineRegisters();

	};

	/// <summary> Test that state machine creation is error free. </summary>
	extern "C" CONTROLLERSTATEMACHINENATIVETESTLIB_API void TestMachineCreation();

	/// <summary> Test basic state machine functionality. </summary>
	extern "C" CONTROLLERSTATEMACHINENATIVETESTLIB_API void TestStateMachine();

	/// <summary> Test that creation of controller state machine registers is error free. </summary.
	extern "C" CONTROLLERSTATEMACHINENATIVETESTLIB_API void ControllerStateMachineRegistersCreation();

	/// <summary> Test theat GetRegisterCount() works </summary>
	extern "C" CONTROLLERSTATEMACHINENATIVETESTLIB_API void ControllerStateMachineRegistersGetRegisterCount();

	/// <summary> Test that GetRegisterSize() works. </summary>
	extern "C" CONTROLLERSTATEMACHINENATIVETESTLIB_API void ControllerStateMachineRegistersGetRegisterSize();

	/// <summary> Test that GetRegisters() works. </summary>
	extern "C" CONTROLLERSTATEMACHINENATIVETESTLIB_API void ControllerStateMachineRegistersGetRegisters();
}
